Made hopper only spin when shooter is spinning fast enough.#113
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The-Cool-Python-Guy wants to merge 3 commits intomainfrom
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Made hopper only spin when shooter is spinning fast enough.#113The-Cool-Python-Guy wants to merge 3 commits intomainfrom
The-Cool-Python-Guy wants to merge 3 commits intomainfrom
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The-Cool-Python-Guy
requested review from
MikeKantrowitz,
armadilloz and
batchen1
as code owners
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Note: this still needs to be tested on the real robot. |
armadilloz
requested changes
Mar 15, 2026
| return activeTargets.hopperSpin; | ||
| return activeTargets.hopperSpin | ||
| && robotContainer.getShooterSubsystem().getVelocity() < Constants.SHOOTER_THRESHOLD | ||
| && activeTargets.shooterVelocityRpm < Constants.SHOOTER_THRESHOLD; |
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I don't understand this part - if we set the speed to less than 2k then the hopper would never start?
src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java
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src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java
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src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java
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armadilloz
reviewed
Mar 21, 2026
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| @Override | ||
| public double getEncoderVelocity() { | ||
| return 0; // example |
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I don't think we need to fix this right now, but even a mock io can get the values from the inputs, same as other IOs.
armadilloz
requested changes
Mar 21, 2026
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armadilloz
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Still a couple of unresolved comments, specifically around why should we consider the target speed
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